JPS593505A - Potentiometer set monitor for robot - Google Patents

Abstract

PURPOSE:To execute easily a replacement work and a correction of a potentiometer, by always comparing a position data from a potentiometer with a reference value, and correcting its deviation. CONSTITUTION:As to a potentiometer for setting a reference value, in potentiometers 7, for instance, in case of the theta shaft, a data of the theta shaft detecting potentiometer 7 is stored in an RAM 3 by operating a key 15, etc., and also is displayed on a display part 11. Subsequently, after replacing the theta shaft detecting potentiometer 7, a present position data of the theta shaft is stored in the RAM 3 by operating a key 12, etc., and also is displayed on the display part 11. Subsequently, the present position data and the reference value are read out and compared, its deviation value is displayed on the display part 11, and thereafter, the potentiometer 7 is rotated to the left and right and is corrected so that its deviation is eliminated. In this way, the replacement work and correction of the potentiometer can be executed easily.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a maintenance device for a potentiometer used, for example, in a control detection section of an i-pot for welding.

Conventionally, for example, when replacing a potentiometer used in the control detection section of a teaching-type welding robot, re-teaching is required if the set position is slightly different, and it is not enough to operate the potentiometer with high precision and accuracy. Therefore, when replacing the potentiometer, it is necessary to use a measuring device such as a digital tester to measure the voltage between the terminals of the potentiometer while performing the replacement work, which makes the work difficult.
A series of checks and corrections in the operating mode require a great deal of time and effort, and it is difficult to confirm even the smallest details of the movement, especially when a movement occurs because the position data at the detection part is not compared. There were drawbacks.

The object of the present invention is to provide a display device that constantly compares and displays the position data from the potentiometer with a memorized reference value during the replacement and correction of a robot's potentiometer without causing any damage to the robot. An object of the present invention is to eliminate the above-mentioned drawbacks of the conventional art by providing a circuit for correcting the deviation value.

Next, the configuration of an embodiment of the present invention will be explained with reference to the drawings.

FIG. 1 is a system block diagram of a maintenance device for a potentiometer in this embodiment, in which storage elements ROM2 and dynamic RAM3 are connected to the address bus and data bus of one CPU, and the potentiometer position is corrected. A device 10 for storing and controlling digital information from the setting circuit 4; a controller 5 and its position correction setting switch 6;
Also, an A/D converter 9 that digitizes analog information from a potentiometer control circuit 8 that converts information from a potentiometer to a constant level, and a CD control circuit 10 that processes and controls display information from the CPU 1.
and a display key 12 for giving a series of control commands to the CPU 1. A control key control circuit 16 that controls key information from the reset key 13, start key 14, 14, key block 15, etc., and a robot control device 17 that further transmits this potential information to the robot are connected via the path line. It is connected.

That is, when the operator turns on the power switch (I8 not shown) of the operating spring μ, the I10 controller A-5 and A/D connected to the CPU 1 and the data bus are turned on.
Converter 9. CD control circuit 10. and RAM
Initialize 3.

At this time, when the operator sets the operation panel to maintenance/mode, Microsoft of the CPU 1 shifts to maintenance mode.

First, in the maintenance mode, based on the control signal of CPU 1, in order to set the reference value for voltage exchange,
If you want to set the reference value of the current five potentiometers, for example the θ axis, press the display key 12 and start key 14 from the 10 key block 15 to the θ axis block. The analog voltage of the detection potentiometer 7 is passed through the potentiometer control circuit 8, A/D converted by the A/D converter 9, and sent onto the data bus by the data read signal from the controller 5. The data once saved to R
In addition to being stored in AM3, Microsoft also stores it in RAM.
From 3 onwards, input the data again.

Through the CD controller/L' circuit 10, it is sent to the character designator 11 (CD) to display the θ-axis work position, and then Microsoft of the CPU 1 transfers the data (θ-axis) stored in the RAM 3 to the CD 11. Display to.

After the operator confirms this data, the button V of the other axis is
! The reference value of the f-meter is also set in the same way.

Next, after the maintenance person replaces, for example, the θ-axis detection potentiometer attached to the actuator, the operator turns on the display key 12 of the operating spring ρ, and then turns on the reset key 13 and start key 14 to move the Microsoft CPU to the correction mode.

In the correction mode, the θ-axis current position data is created again and stored in the RAM 3, and this current position data is sent to the CD 11 via the data bus and the CD control circuit 10.
Then, this current position data is retrieved and compared with the reference data stored during the maintenance mode, and after displaying the results again on the CD 11, the operator moves the θ-axis potentiometer 7 to the corresponding position being displayed. Correct by rotating left and right until the difference data becomes "0", and after finishing, the operator turns off the start key 14 on the operation panel and presses cpul.
Microsoft has completed one operation.

Note that the 10-key block 15 can also be used in place of the position setting switch 6, and by connecting a printer as an addition device, J position data can be obtained.

Comparison data etc. can also be recorded at any time.

After fixing the potentiometer W meter, its deviation amount is checked again in the correction mode, and the deviation data is set in the potentiometer position correction setting switch 6.

During repeat operation, the stored position data is corrected and output using the value from this correction setting switch, eliminating various differences due to potentiometer replacement.

Next, this robot potencillometer set monitor will be explained according to a flowchart.

In the flowchart shown in Figure 2, after the power is turned on, the system performs initialization and determines whether it is a repeat operation, if No, determines whether it is a teaching operation, and if YES, data storage processing. Shifts to a subroutine call, then jumps to the data storage processing routine shown in Figure 6, and calculates parameters such as forward, backward, or upward → data storage area check → data storage address calculation → condition data storage →
After determining whether it is correction mode, if no, then X, Y
, Z, etc. → Determine whether the program is E N D. If YES, → Check the sum → Turn off the teach lamp → Add 1 to the step counter → After determining that the teach key is OFF. , also L, yes (YE
S), the process moves on to determining the next potentio set key.

Turn on the potentiometer set key to the potentiometer set key
If the result is YES (7), move on.

Next, jump to the potentiometer set monitor subroutine shown in Fig. 4 and turn on the data lamp → After creating the current position data of the robot's potentiometer, set the data storage area in the random access memory (RAM) →X, Storage of reference values for each axis such as Y, θ, etc.→Data pump turned off→Determine whether the potentiometer F set key is OFF. If NO, return to the original main routine shown in Figure 2, and start again from the repeat determination of the main flowchart. Start.

Next, after storing information in the memory write circuit in the teaching operation, the program moves to the potentioceratomonib mode routine.

That is, after repeat judgment, if NO, it is judged whether it is teaching or correction mode, if NO, it is judged whether it is monitor mode, if NO, it is judged whether it is potenti set monitor, and if YES, it is judged whether it is monitor mode or not. (YES
), then jump to the set monitor subroutine shown in FIG.

In the potentiometer and monitor functions, first save the register contents of the microcomputer to memory (RAM) so as not to destroy them in this monitor mode, then set the initial state, and then check whether the reset key is ON. If (No) → Determine whether the potentiometer set key is ON, if YES (YES) → After comparing the arbitrary potentiometer reference value with the position information memorized during the teaching mode, based on the difference displayed on the display. After the operator adjusts the potentiometer and makes the difference almost "0", → potentio set key OF"F
If YES, check whether the VOTENTY W set key is ON, and if NO, restore the microcomputer register data that was saved to the memory (
(to the memory register), returns to the original main routine shown in FIG. 2, and starts again from the repeat determination in the main flowchart.

Next, after the potentiometer 1 set monitoring operation is performed and the potentiometer of the actuator section of the robot is corrected, the process moves to a start-up routine.

That is, if the answer is YES after the repeat judgment, the potentiometer 4-meter position shown in Fig. 5 must be corrected in the potentiometer 7-meter monitor mode, since it is necessary to correct various differences caused by manual correction at least immediately before starting the main startup mode. Move to the correction blue routine.

Jump to the potentiometer position correction blue routine → initial abnormality check → determine whether there is an abnormality, and if no (
If no, step value display → data address calculation → determine whether data correction is valid; if YES, → position correction setting switch manual switch correct stored data → after outputting position data, Return to the original startup routine,
Start again from automatic operation in startup mode.

Next, it is determined whether it is automatic operation, and if YES, → automatic condition determination processing (not shown) → determine whether it is continuous, and if YES, → continuous operation parameter setting (not shown) → startup subroutine. Call (Illustrated Ministry I8)
Then, the program jumps to the fibrillation subroutine, and after completing the series of start-up modes, returns to the original main routine.

Next, in the main routine all work completion judgment, No (No)
), it is determined whether it is Nutep mode, and if it is YES (YE
S), the program returns to the start address of the main routine.

Further, if YES in the determination that all the work in the main routine has been completed, the operating time of the robot per process, that is, the turnaround time, is displayed to the operator, and all control operations are completed.

Next, the effects of the present invention will be explained.

The first invention includes a circuit that detects position information of a moving robot according to machining information input in advance using a teaching method and converts output information from a position sensor; A switch circuit for newly setting the latest position information, a circuit for comparing and determining the information, a display device for displaying the position information to be corrected from the standard comparison value, and a display device for displaying the displayed information or a series of teaching information at any time during the teaching mode. A potentiometer meter set F monitor for a robot is characterized in that it is provided with a random access memory circuit having a storage capacity.

By this, when the robot potentiometer is fixed or fixed, the present invention can easily correct the deviation when the potentiometer is fixed at the time of correction by numerical setting without using a teaching method. It has an effect that can be achieved with a series of simple operations.

Next, the second invention is a circuit that detects position information of a robot that moves according to machining information input in advance in a teaching method and converts output information from a position sensor, and a position sensor that detects position information of the robot. A correction circuit that calculates the deviation value of the latest position information in the operating area based on the output information from the reference position information stored in advance and automatically corrects the position information based on that information, and a correction circuit that automatically corrects the position information based on the information, and the correction circuit that calculates the deviation value of the latest position information in the operating area based on the output information from the A robot potentiometer set monitor comprising: a display device for displaying positional information; and a random access memory circuit having a capacity to store the displayed information or a series of teaching information at any time during the teaching mode. .

As a result, the present invention achieves almost the same effect as the first invention, and also simplifies the structure of the monitor, and has the effect of being able to control quickly, economically, and with high accuracy without human error. be.

[Brief explanation of the drawing]

Fig. 1 is a synutem block diagram of an embodiment of the present invention;
5 to 5 are flowcharts of the microcontrol. 11.・CPU 2, ROM6
... RAM 4 ... Potentiometer position setting circuit 5 ... I10 controller 6 ... Position setting switch 7 ... Potentiometer 8 ... Potentiometer control circuit 9 ... A/D converter 10 ... CD control circuit 11...CD 12...Display key 16.
...Reset key 14...Start key 15...
・1゛0 key block 16...Control key control time 17...Robot control device

Claims (2)

[Claims] (1) A circuit that detects the position information of a moving robot according to processing information input in advance using the teaching method and converts the output information from the position sensor, and a circuit that converts the output information from the position sensor to the latest position information in the operating area according to the information from the sensor. A switch circuit to be newly set, a circuit to correct the position data based on the information, a display device to display the position information to be corrected from the reference comparison value, and a display device to display the displayed information or a series of teaching information at any time during the teaching mode. A seven-bit potentiometer monitor for a robot, characterized in that it is provided with a random access memory circuit having a storage capacity. (2) A circuit that detects the position information of a robot that moves according to machining information input in advance using the teaching method and converts the output information from the position sensor, and an operation based on the output information from the position sensor that detects the robot's position information. A correction circuit that calculates the deviation value of the latest position information in the area and pre-stored reference position information and automatically corrects the position information based on that information, and a display that displays the position information to be corrected from the reference comparison value. A potentiometer set monitor for a robot, comprising: a device; and a random access memory circuit having a capacity to store display information thereof or a series of teaching information at any time during the teaching mode.